Marius Eggert
5e557d2d46
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82 lines
3.5 KiB
C++
82 lines
3.5 KiB
C++
/*
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* Guidance.h
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*
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* Created on: 6 Jun 2022
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* Author: Robin Marquardt
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*/
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#ifndef GUIDANCE_H_
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#define GUIDANCE_H_
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#include <time.h>
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
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#include "SensorValues.h"
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class Guidance {
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public:
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Guidance(AcsParameters *acsParameters_);
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virtual ~Guidance();
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void getTargetParamsSafe(double sunTargetSafe[3], double satRateRef[3]);
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// Function to get the target quaternion and refence rotation rate from gps position and
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// position of the ground station
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void targetQuatPtgThreeAxes(ACS::SensorValues *sensorValues,
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acsctrl::GpsDataProcessed *gpsDataProcessed,
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acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
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double refSatRate[3]);
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void targetQuatPtgGs(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
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acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
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double targetQuat[4], double refSatRate[3]);
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void targetQuatPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
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acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now,
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double targetQuat[4], double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate for sun pointing after ground
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// station
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void sunQuatPtg(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
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acsctrl::SusDataProcessed *susDataProcessed,
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acsctrl::GpsDataProcessed *gpsDataProcessed, timeval now, double targetQuat[4],
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double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate from gps position for Nadir
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// pointing
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void quatNadirPtgThreeAxes(ACS::SensorValues *sensorValues,
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acsctrl::GpsDataProcessed *gpsDataProcessed,
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acsctrl::MekfData *mekfData, timeval now, double targetQuat[4],
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double refSatRate[3]);
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void quatNadirPtgSingleAxis(ACS::SensorValues *sensorValues, acsctrl::MekfData *mekfData,
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timeval now, double targetQuat[4], double refSatRate[3]);
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// Function to get the target quaternion and refence rotation rate from parameters for inertial
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// pointing
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void inertialQuatPtg(double targetQuat[4], double refSatRate[3]);
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// @note: compares target Quaternion and reference quaternion, also actual satellite rate and
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// desired
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void comparePtg(double targetQuat[4], acsctrl::MekfData *mekfData, double refSatRate[3],
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double quatErrorComplete[4], double quatError[3], double deltaRate[3]);
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void refRotationRate(timeval now, double quatInertialTarget[4], double *refSatRate);
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// @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
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// reation wheel maybe can be done in "commanding.h"
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void getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);
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private:
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AcsParameters acsParameters;
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bool strBlindAvoidFlag = false;
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timeval timeSavedQuaternionNadir;
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double savedQuaternionNadir[4] = {0, 0, 0, 0};
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double omegaRefSavedNadir[3] = {0, 0, 0};
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static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/deployment";
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static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/deployment";
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};
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#endif /* ACS_GUIDANCE_H_ */
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